CN101992946B - Gripper device for simultaneous recording and/or gripping of multiple containers and/or boxes - Google Patents
Gripper device for simultaneous recording and/or gripping of multiple containers and/or boxes Download PDFInfo
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- CN101992946B CN101992946B CN201010191915.7A CN201010191915A CN101992946B CN 101992946 B CN101992946 B CN 101992946B CN 201010191915 A CN201010191915 A CN 201010191915A CN 101992946 B CN101992946 B CN 101992946B
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- Prior art keywords
- grabbing
- placement unit
- claw
- grabbing claw
- casing
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- 235000013361 beverage Nutrition 0.000 claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims description 152
- 238000004806 packaging method and process Methods 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000035622 drinking Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 3
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- 239000002184 metal Substances 0.000 description 2
- 238000009527 percussion Methods 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Wrapping Of Specific Fragile Articles (AREA)
- Specific Conveyance Elements (AREA)
Abstract
A gripper device (10) for simultaneous recording and/or gripping of multiple containers and/or boxes containing or non containing beverage containers or bottles, wherein the containers and/or boxes (12) are open on the top and provided with side dents (14). The gripper device (10) has at least two gripping units (16), each of which includes multiple movable gripper fingers (18) with hook-like ends, and the hook-like ends (20) can be engaged with the side dents (14) of the containers and/or boxes (12). The hook-like ends (20) of at least two gripping fingers (18) of each gripping unit are set relative to the box dents (14) in different heights, and the hook-like ends (20) can be engaged with the box dents (14) independently.
Description
Technical field
The present invention relates to a kind ofly for engage and/or capture some comprise or the do not comprise packaging of drinking container and/or the grabbing devices of casing simultaneously, this packaging and/or casing are in open top and be provided with side recess.
Background technology
By beverage filling in the industrial filling apparatus of drinking container and bottle, container and bottle are carried by the multiple Handling devices between several stations, and are passed to another Handling device from a Handling device.Drinking container is grouped into the packaging being made up of some containers conventionally.These packagings can be the beverage casings that for example comprises the bottle of some.This casing has cube shaped, and vertical reception and the taking-up with permission bottle in open top, and this casing has the side recess for capturing this beverage casing.In the time that machine is carried this beverage casing, use so-called hook grasping system, wherein, at least one Beverage case body can be picked up by least plural hook-shaped grabber, and hook-shaped grabber is pivoted into side recess from top, promote subsequently casing.According to the layer pattern of box sizes and packaged form and/or casing (layer pattern), arrange in groups hook.In traditional hook grasping system, these hook groups are installed in common oscillating axle (tiliting shaft), and this oscillating axle is by common actuator centralized driving, and the pivoting action of expecting thus.
DE 27 35 791 A1 disclose a kind of bottle of movable layer grabber (layer gripper) with casing, these bottles with casing directly adjacent to each other, but not do not connect.Layer grabber comprises multiple pivotable hooks, the sidewall of the opening of this hook joint casing.Bottle is all associated with a hook with all four walls of casing, and wherein, the hook being associated with the wall in a row aliging is arranged in common pivot.Two groups of pivots are positioned at two parallel horizontal surfaces and are arranged to relative to each other meet at right angles, and wherein, a horizontal surface is positioned at the top of another horizontal surface.Two groups of pivots at least support each other at interior intersection point place, and wherein, one group of pivot in two groups of pivots is arranged on another group pivot.Every two groups of pivots adjacent, alignment have common rotary driver (drive).
DE 30 24 192 A1 also disclose for the grabber at the odd lot such as bottle casing in groups of plane layer from top loading and unloading, and this grabber has center driver and adjustable force transmission member.
In context, known various types of for engaging the grabbing device of casing, for example, spring load single hook or two walls along adjacent casing insert and be then closed the grabbing device immediately closing that makes to carry out based on friction drag casing from top.For example, EP 1 020 395 B1 disclose a kind of for the clamping grabber of load to be captured promptly from top.The document has illustrated a kind of grabber that can capture without engaging the bottom of load load.In the time rising under the state that support unit engages with load at grasping element, by the gripper components moving with respect to support component at loading direction, utilize the gripping power Lookup protocol clamping stroke (clamping stroke) that depends on weighing load.This device is only available in the situation that having set up frictional property clamping.
DE 20 2,005 007 347 U1 disclose a kind of for receiving and carry the automatic control tool of the container with tool connector parts.These tool connector parts are equipped with the horizontal support member that can connect with automatic control device.In this device, at least one vertical support arm is pivotally connected to support component, wherein, has in one end away from support component of at least one hold-down arm the link that is suitable for container.By making at least one hold-down arm pivotable, container can be connected with link or remove and be connected with link.But this device only allows to carry or capture the container with same size.
DE 22 53 185 A have illustrated for engage simultaneously some in open top and be provided with the grabbing device of the bottle casing of the side recess for manually capturing.The height and position and the lateral position that are used for the device that engages casing can be controlled, and are provided with the grabbing claw of hook-type, and the grabbing claw of this hook-type can be pivoted into the recess capturing for manually, and is operated by hydraulic actuating cylinder.Grabbing claw be arranged in be designed to can be adjustable in multiple directions on a plane push rod and/or pull bar on.
Known grabbing device requires object to be captured to have definite shape, and must guide and control object to be captured in accurate mode in addition, can reliably and safely capture object.
Summary of the invention
Main purpose of the present invention is to provide the general grabbing device that a kind of beverage casing or similar articles are used, wherein, this combination unit is fail-safe and because suitable design can be used in dissimilar casing can individually and/or layer by layer capture and/or engage casing.
In order to realize this object, the invention discloses for engage simultaneously or capture some can optionally receive drinking container or bottle packaging or the grabbing device of casing.This packaging or casing can have multiple design and shape and in open top.In addition, each packaging or casing all have side recess.
Grabbing device according to the present invention comprises at least plural placement unit, each placement unit all have hook shape and/or there is hooked end multiple can pivotable or movable grabbing claw otherwise, each grabbing claw can be pivoted into and/or be inserted into the side recess of packaging and/or casing.Feature of the present invention is as follows: the hooked end of at least two grabbing claws of each placement unit is disposed in differing heights place with respect to casing recess.According to the present invention, thus placement unit can comprise the casing of at least two grabbing claw all kinds and/or size can be for example by stacking to form wrapped palletized tier.In addition, placement unit and grabbing claw can be arranged to linear movable, make the hooked end of grabbing claw can insert better or be pivoted into casing recess, and are also movable.
Grabbing claw has the hook-shaped free end towards equidirectional.This allows to promote different casings and/or packaging and different casings and/or packaging is stacked to one group (one formation) safely, and this group for example can design in a row or the mode of layer.In the time that at least two grabbing claws of each placement unit are disposed in differing heights, box height and/or size, the size of different side recesses and/or height that grabbing device can be compatible different.The different casings with different recess height can easily be carried under the help of grabbing claw that is engaged in differing heights.
The grabbing claw of placement unit is installed in base portion, and pivotable or otherwise motion independently of one another.In addition, each grabbing claw is arranged to and can moves by the common rotation axis line in base portion.This is independently installed and allows to engage different casing recesses, wherein, the grabbing claw of coupling engages this recess, and one or more other grabbing claws needn't engage, and due to the pivotable installation of these grabbing claws, can dodge and/or be forced to keep out of the way motion by packaging or the enclosed region of box body wall.
As far as possible little for the space that grabbing claw is needed in grabbing device, at least some grabbing claws have recess.This allows the mode that staggers above another grabbing claw with a grabbing claw to arrange grabbing claw, and the recess of one of them grabbing claw can be that the second grabbing claw forms mobile space.In this arrangement, at least two grabbing claws in a plane, be aligned and/or common or approach identical all-moving surface in pivotable.In this selection example, grabbing claw has the outline of the approximate C type of different size, and two grabbing claws that are positioned at the same face are arranged within another grabbing claw in one of each interval mode.If have the 3rd grabbing claw, the 3rd grabbing claw can be arranged in the pivotable face parallel with this same face, and the height of hook-shaped grabber end of the 3rd grabbing claw is different with the height of the grabber end of other grabbing claws.
Grabbing claw has the arm with different length being roughly arranged parallel to each other.By this way, can adopt as the suitable metal sheet of corrosion-resistant steel or light metal thin slice, produce very simply grabbing claw by punching press and/or bending machining.Alternatively, also can consider to manufacture grabbing claw by plastics by injection mo(u)lding, this grabbing claw can and/or be provided with suitable rib by fibre strengthening.
In order to allow the startup of each grabbing claw, the grabbing claw of each placement unit is provided with spring, and wherein, the grabbing claw that the opposing of the restoring force of spring is movably installed is kept out of the way motion in the time clashing into wait the sidewall of the casing capturing or box body wall.The grabbing claw that engages casing recess passes through the restoring force edge of spring towards the direction pivotable of its balance position, and one or more grabbing claw has larger preloading.In this embodiment, only needing the grabbing claw of operation is to have the length of coupling to be pivoted into the recess of casing and the grabbing claw at carrying salient (ledge) or the crawl of carrying load bearing face place and/or joint casing.By restoring force, the grabbing claw contacting with the box body wall rotation axis pivotable backward slightly that rotates.
If desired, can be the restoring force of each grabbing claw regulating spring.If want that the grabbing claw for having different length and having thus a different lever force that puts on casing arranges roughly the same restoring force, this is favourable.
The hooked end of grabbing claw has the bearing surface that can capture and can promote thus casing at its recess.In order to ensure the guiding to casing during the stacking of casing, bearing surface can be preferably wrinkling and/or coated and/or be equipped with anti-slip material.In addition, so-called center refers to load as spring the equalizing feature of grabbing claw.Center refers to be disposed in an opposition side of box body wall, thereby and with the grabbing claw being spring loaded just to can play the effect of strut member in the time that if box body wall is for example bending, thereby prevent the distortion of box body wall.
Grabbing device can comprise by means of the axle of base regions rotate rotation axis install some placement units.This axle is by driver control.In the time that axle is controlled, this axle rotates a little pivoting angle, and placement unit is moved to casing.This moves the grabbing claw of each placement unit and the recess of casing is engaged.Depend on design and the shape of casing, at least one grabbing claw of each placement unit captures the corresponding recess of each casing, makes the grabbing claw starting to promote and/or to capture casing at actual carrying salient and/or carrying load bearing face place.Due to geometric reason, other can not complete engage or capture casing task grabbing claw or move to the empty space of recess or top or the lower edge of crash box body wall.The keeping out of the way motion and can be started by the restoring force of mentioned spring of the percussion movement of this grabbing claw and generation.
The number of the placement unit of grabbing device can change.For example, can with three or even four placement units promote two casings.Therefore, the configuration of grabbing device and/or assembling depend on the number of placement unit.In addition, the number of placement unit also depends on the formation (formation) of casing.In order to allow to promote casing by placement unit, the grabbing claw of placement unit can be from outside or from the recess of interior bonds casing.For example, if promote two casings by three placement units, the hooked end of the grabbing claw of at least two placement units can be towards identical direction, and for example, the grabbing claw of the placement unit that outside applies can upcountry engage casing or outwards engage casing from inside from outside.The 3rd placement unit in the middle of being arranged in is at two casings of interior side engagement and promote this two casings.
The hooked end of the grabbing claw of each placement unit also can be faced identical direction.
The another kind of example of selecting is that the paired hooked end of the grabbing claw of two placement units faces with each other.In this case, the grabbing claw of placement unit is upcountry pivoted into recess or the crash box body wall of casing from outside.These paired hooked ends of the grabbing claw of two placement units also can be each other back to, thereby make grabbing claw outwards engage recess or the crash box body wall of casing from inside.
Grabbing device comprises at least two placement units, and each placement unit has at least two grabbing claws.As mentioned above, these placement units are arranged to stagger toward each other or each other, make them can for example capture one or more casings.Preferably, the hooked end of the grabbing claw of each placement unit is towards same direction.Device of the present invention can arrange the placement unit with more than three grabbing claw.But each placement unit should comprise at least two grabbing claws.
The present invention not only relates to the grabbing device with more than two placement unit according to one of above-mentioned embodiment, but also relating to the placement unit of this kind of grabbing device, this placement unit has at least two with the pivotable of hooked end or another otherwise moving grabbing claw.According to the present invention, these at least two individually hooked end movable or pivotable grabbing claw be arranged at various height the recess of the different size can engage casing for example to be captured or packaging.
Brief description of the drawings
Hereinafter, describe the present invention and advantage thereof in detail by embodiment with reference to the accompanying drawings.As shown in the drawing, for better understanding, be compared to other parts, some parts are simplified, and some parts are exaggerated, and therefore each parts ratio relative to each other may not be corresponding with actual ratio.
Fig. 1 is schematically illustrated for engaging or capture the lateral plan of part-structure of grabbing device of casing;
Fig. 2 illustrates the schematic perspective view of the structure of the placement unit of grabbing device;
Fig. 3 illustrates another schematic perspective view of the placement unit of Fig. 2;
Fig. 4 illustrates the schematic sectional view of the casing being engaged by two placement units; And
Fig. 5 shows the various configurations of the placement unit in grabbing device.
Description of reference numerals
10 grabbing devices
12 casings, beverage casing
14 side recesses
16 placement units
18 grabbing claws
18a the first grabbing claw
18b the second grabbing claw
18c the 3rd grabbing claw
19 arms
20 hooked ends, hook
22 base portions
24 axles
26 carrying load bearing faces
27 box body walls
28 pivots center
30 recesses
32 retracing springs
34 shoulders
36 adjustable springs bearings
38 bearing surfaces
40 centers refer to
50 supporting plates
Detailed description of the invention
Under regard to the preferred embodiment of the present invention detailed description be non-limiting example, and with reference to accompanying drawing.Same parts adopt identical Reference numeral substantially, and only illustrate once.
The schematic side of Fig. 1 illustrates the structure of the grabbing device 10 for engaging or capture casing 12, and this casing 12 can optionally be received drinking container or bottle (not shown) herein.Casing 12 is in open top, and has side recess 14.Fig. 1 also illustrates some casings 12 with different size, and casing 12 stands on for example supporting plate 50 or similar bearing surface with regular arrangement.
Grabbing device 10 comprises some pivotable placement units 16, and each placement unit 16 is provided with the grabbing claw 18 in the side recess 14 that can be pivoted into casing 12.Each grabbing claw includes hooked end 20 (seeing Fig. 2).In the embodiment shown, each placement unit 16 comprises that 3 have the hooked end 20 being associated separately and are arranged grabbing claw 18 at various height.In this manner, dissimilar casing can be handled upside down with the casing 12 Bu Tong with the side recess 14 of size and/or the side recess 14 of differing heights and stacking to form wrapped palletized tier (pack layer).In the time that at least two grabbing claws 18 of each placement unit 16 are arranged at various height, grabbing device 10 can be compatible with size and/or the height of box height that (tolerant with) is different and/or casing size, side recess 14 well.The different casing 12 with the side recess 14 that is positioned at differing heights can easily be carried by means of the grabbing claw 18 of locating at various height to engage.
Each grabbing claw 18 of placement unit 16 is installed in base region 22, and pivotable independently of one another.In addition, each grabbing claw 18 is installed by the movable mode of common pivot center 28 with in base region 22, as Fig. 2 and Fig. 3 at length as shown in.This is independently installed and allows to engage different casing recesses 14, wherein, the grabbing claw 18 engage side recesses 14 of coupling, and other one or more grabbing claws 18 needn't engage side recess, and due to the pivotable installation of these grabbing claws, can dodge and/or be forced to keep out of the way motion by the enclosed region of box body wall 27.
As seen in Figure 1, grabbing device 10 comprises at least two such configurations.Thereby grabbing device 10 comprises several placement units 16 of total, these placement units 16 are installed in common axle 24 by their base portion 22.Axle 24 is controlled by actuator (not shown at this) and is mobile.In the time that axle 24 is controlled, once will promote casing 12, axle 24 rotated a little pivoting angle that is enough to placement unit 16 to move to casing 12.Due to this convergence motion, the grabbing claw 18 of each placement unit 16 engages the side recess 14 of casing 12.According to the design of casing 12 and shape, below the carrying load bearing face 26 of the grabbing claw 18 of each placement unit 16 in the side recess 14 of casing 12, move with the state engaging.Due to geometric former thereby need not come at carrying other grabbing claws 18 of engaging with casing 12 of load bearing face 26 places or move into empty space, enter the side recess 14 of casing 12, or crash box body wall 27 above side recess 14 and/or below any position.The keeping out of the way motion and can realize by the installation that is loaded with spring of this percussion movement of grabbing claw 18 and generation.In another embodiment, only use a grabbing claw 18.If this grabbing claw 18 engages the side recess 14 of casing 12, this is necessary for promoting and capturing casing 12.The lifting of casing 12 and capturing by making placement unit 16 increase until grabbing claw 18 touches the carrying load bearing face 26 of casing 12 realizes.
As mentioned above, grabbing device 10 comprises at least two placement units 16, and this placement unit 16 is preferably designed to have at least two grabbing claws 18.This placement unit 16 is arranged to toward each other, thereby can catch from both sides casing 12.For this purpose, the hooked end 20 of each placement unit 16 is towards same direction, and in the time that two placement units 16 cooperate, hooked end 20 is towards casing center.As shown in Figure 1, grabbing device 10 comprises and is installed on three of common axle 24 above placement units 16, wherein, only shows the side in the placement unit of paired positioned opposite of placement unit 16.But, can be also 4 pairs, 5 pairs or more multipair hooked end 20.
The schematic three-dimensional icon of Fig. 2 and Fig. 3 goes out the structure of the placement unit 16 of the grabbing device 10 of Fig. 1.The placement unit 16 illustrating comprises and amounts to three grabbing claws 18, and these three grabbing claws 18 are all installed on base portion 22 and pivotable independently of one another.And illustrate, base portion 22 is threaded is fixed on hex-shaped shaft 24.Grabbing claw 18 is mounted in the movable mode of public pivot center 28 in base portion 22.For can with each other closely adjacent mode grabbing claw 18 is installed with conserve space, the first grabbing claw 18a has C font profile, and has the recess 30 of the mobile space that is formed for the second grabbing claw 18b.In this configuration, two grabbing claw 18a and 18b be generally alignment in one plane, and can common or approach identical all-moving surface in pivotable.It is adjacent with these two other grabbing claw 18a and 18b that the 3rd grabbing claw 18c is configured to, and can be in the all-moving surface parallel with 18b with these two other grabbing claw 18a pivotable.
The diagram of Fig. 1 and Fig. 2 shows grabbing claw 18a, 18b and 18c, and each grabbing claw 18a, 18b and 18c all have the arm (limb) 19 of different length, thereby makes the hook-shaped crawl end 20 of these grabbing claws be configured in different At The Heights.The arm 19 of grabbing claw 18 can be straight or angled, as shown in Figures 2 and 3, and is configured to roughly parallel to each other.The first grabbing claw 18a and the 3rd grabbing claw 18c are respectively angled, and the second grabbing claw 18b is not angled, thereby make hooked end 20 very close each other.This design allows to utilize suitable flaky metallic material to make relatively easily grabbing claw 18 by punching press and/or bending machining.
Independently moving and starting (activation) in order to ensure each grabbing claw 18, the grabbing claw 18 of each placement unit 16 is provided with retracing spring 32, wherein, the restoring force of retracing spring 32 is resisted the grabbing claw 18 movably installed keep out of the way motion in the time being clashed into wait the sidewall of the casing 12 capturing or box body wall 27.By the restoring force of spring 32, engage the grabbing claw 18 of casing recess 14 along the direction pivotable towards its balance position, and one or more other grabbing claw 18 have larger preloading.In this embodiment, the unique grabbing claw 18 being activated is the arms 19 with suitable length to be pivoted into the side recess 14 of each casing 12 and to catch the grabbing claw 18 of this recess 14.Utilize restoring force, the grabbing claw 18 contacting with box body wall 27 rotation axis 28 pivotable backward slightly that rotates.
In order to support and fixed reset spring 32, each grabbing claw 18 all has shoulder 34 at rear side, as shown in Figure 3.The bottom of spring 32 is seated shoulder 34, and the top of spring 32 is supported on the adjustable spring bearing 36 being screwed in base portion 22.By this way, can be the restoring force of each grabbing claw 18 regulating springs 32.For example, this can arrange approximately uniform restoring force for the grabbing claw 18 that has different length and have thus different lever force that put on casing 12.
The hooked end 20 of grabbing claw 18 includes the bearing surface 38 engaging with casing 12 in the side recess 14 of casing 12.In order to ensure the guiding to casing 12 during stacking, bearing surface 38 can be for example wrinkling, tool is serrate and/or coated and/or be provided with anti-slip material.
Fig. 4 shows the schematic sectional view of casing 12, and this casing 12 for example stands on supporting plate 50 and engaged and/or capture by two placement units 16.The hooked end 20 of grabbing claw 18 is included in the bearing surface 38 that engages and promote this casing 12 in the side recess 14 of casing 12 with casing 12.In order to ensure the guiding to casing 12 during stacking, bearing surface 38 can be preferably wrinkling and/or coated and/or comprise anti-slip material (not shown).In addition, so-called center refers to that 40 can be as the equalizing feature of spring-loaded grabbing claw 18 (counter-elements) (seeing Fig. 2 and Fig. 3).Center refers to that 40 are arranged in an opposition side of box body wall 27, and just right with the grabbing claw 18 being spring loaded, if make these centers refer to that 40 for example can play the effect of support in the time of box body wall 27 bendings (yield), thereby prevent the distortion of box body wall 27.
Fig. 5 shows the various configurations of the placement unit 16 that allows crawl and/or engage casing in grabbing device 10.These select example can not be considered to the list of final embodiment, because the configuration of the final all placement units that can expect 16 is all feasible.The number of casing 12 depends on the number of placement unit 16 and the mode that placement unit 16 is relative to each other arranged in grabbing device 10.Double-head arrow is used to illustrate the pivoting action of the placement unit 16 of installing pivotly.Hooked end 20 is towards side recess 14 pivotables (seeing Fig. 1 or Fig. 4) of casing 12.Placement unit 16 is installed in axle 24.
The invention is not restricted to above-mentioned embodiment.But can expect using design of the present invention and various variants and modifications within the scope of the invention.
Claims (24)
1. one kind for engage multiple include or not containing the grabbing devices (10) of the packaging (12) of drinking container simultaneously, this packaging (12) is in open top and be provided with side recess (14), described grabbing device comprises at least two placement units (16), each placement unit (16) all has multiple movable grabbing claws (18), this grabbing claw all has hooked end (20), this hooked end (20) can be inserted into the side recess (14) of described packaging (12), it is characterized in that, the described hooked end (20) of at least two grabbing claws (18) of each described placement unit (16) is disposed in differing heights with respect to side recess (14), wherein, described hooked end (20) can engage with described side recess (14) independently of one another.
2. grabbing device according to claim 1, is characterized in that, the hooked end (20) of the described grabbing claw (18) of same placement unit (16) is towards equidirectional.
3. grabbing device according to claim 1 and 2, is characterized in that, the described grabbing claw (18) of described placement unit (16) is installed in base portion (22), and pivotable or movement independently of one another.
4. grabbing device according to claim 3, is characterized in that, each described grabbing claw (18) can be around common rotation axis line (28) motion that is positioned at base portion (22).
5. grabbing device according to claim 1 and 2, it is characterized in that, at least one grabbing claw in described grabbing claw (18,18a) comprises the recess (30) of the mobile space that forms another grabbing claw (18,18b) use, and this another grabbing claw (18,18b) is arranged in the top of described grabbing claw (18,18a) in the mode that staggers.
6. grabbing device according to claim 1 and 2, is characterized in that, at least two described grabbing claws (18,18a, 18b) are roughly arranged in an all-moving surface and/or are in alignment with each other.
7. grabbing device according to claim 1 and 2, is characterized in that, the arm (19) of described grabbing claw (18,18a, 18b) has different length, and is arranged to roughly parallel to each other.
8. grabbing device according to claim 1 and 2, is characterized in that, the each grabbing claw in described grabbing claw (18,18a, 18b, 18c) all has retracing spring associated with it (32).
9. grabbing device according to claim 8, is characterized in that, the restoring force of the described retracing spring (32) of described each grabbing claw (18,18a, 18b, 18c) is adjustable.
10. grabbing device according to claim 3, is characterized in that, described placement unit (16) is mounted in the mode of rotation axis (28) pivotable that can rotate by means of the axle (24) that is fixed on described base portion (22).
11. grabbing devices according to claim 10, is characterized in that, described axle (24) is connected in actuator, for controlling the pivoting action of described grabbing claw (18) of each described placement unit (16).
12. grabbing devices according to claim 1 and 2, it is characterized in that, described device (10) comprises at least two placement units arranged in pairs (16), for every pair of placement unit (16), the grabbing claw of the grabbing claw of one of them placement unit (16) and another placement unit (16) face with each other and/or each other back to.
13. grabbing devices according to claim 1 and 2, is characterized in that, described device (10) comprises at least two placement units (16), and wherein, described grabbing claw (18) is arranged to stagger toward each other or each other.
14. grabbing devices according to claim 1 and 2, is characterized in that, described device (10) comprises at least two placement units (16), and each placement unit all has 3 grabbing claws (18) that are movably arranged in described placement unit.
15. grabbing devices according to claim 1, is characterized in that, described grabbing device (10) is for capture described packaging simultaneously.
16. grabbing devices according to claim 1, is characterized in that, described packaging is casing.
17. grabbing devices according to claim 16, it is characterized in that, at least one placement unit (16) in described placement unit (16) has the center being associated with this placement unit and refers to (40), this center refers to that (40) and described grabbing claw (18) relatively arrange, with between the joint aging time of the grabbing claw in each placement unit (16) (18) for support and/or stable box body wall (27).
18. grabbing devices according to claim 1, is characterized in that, described drinking container is beverage bottle.
The placement unit (16) of 19. 1 kinds of grabbing devices (10), this grabbing device be according to described in any one claim of claim 1 to 13 for engage multiple include or not containing the grabbing devices of the packaging (12) of drinking container simultaneously, this packaging (12) is in open top and be provided with side recess (14), this placement unit (16) has at least two grabbing claws (18), this grabbing claw all has the hooked end (20) that can engage with side recess (14), it is characterized in that, the hooked end (20) that can engage with side recess (14) independently of one another of described at least two grabbing claws (18) is disposed in differing heights.
20. placement units according to claim 19, is characterized in that, described grabbing device (10) is for capture described packaging simultaneously.
21. placement units according to claim 19, is characterized in that, described packaging is casing (12).
22. placement units according to claim 19, is characterized in that, described drinking container is beverage bottle.
The placement unit (16) of 23. 1 kinds of grabbing devices (10), this grabbing device be according to claim 14 to described in 15 any one claim for engage multiple include or not containing the grabbing devices of the packaging (12) of drinking container simultaneously, this packaging (12) is in open top and be provided with side recess (14), this placement unit (16) has at least two grabbing claws (18), this grabbing claw all has the hooked end (20) that can engage with side recess (14), it is characterized in that, the hooked end (20) that can engage with side recess (14) independently of one another of described at least two grabbing claws (18) is disposed in differing heights.
24. placement units according to claim 23, is characterized in that, described drinking container is beverage bottle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009026361.6 | 2009-08-11 | ||
| DE102009026361A DE102009026361A1 (en) | 2009-08-11 | 2009-08-11 | Gripper device for simultaneously detecting and / or gripping multiple containers and / or boxes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101992946A CN101992946A (en) | 2011-03-30 |
| CN101992946B true CN101992946B (en) | 2014-11-05 |
Family
ID=43234207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010191915.7A Expired - Fee Related CN101992946B (en) | 2009-08-11 | 2010-06-01 | Gripper device for simultaneous recording and/or gripping of multiple containers and/or boxes |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US8376433B2 (en) |
| EP (1) | EP2284115B1 (en) |
| CN (1) | CN101992946B (en) |
| DE (1) | DE102009026361A1 (en) |
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| US20130171105A1 (en) | 2010-05-24 | 2013-07-04 | Synta Pharmaceuticals Corp. | Cancer therapy using a combination of a hsp90 inhibitory compound and a topoisomerase ii inhibitor |
| JP6136775B2 (en) * | 2013-08-30 | 2017-05-31 | 株式会社ダイフク | Transport device |
| DE102013112572B4 (en) * | 2013-11-14 | 2015-10-29 | Rattunde & Co. Gmbh | twin gripper |
| CN103738836B (en) * | 2013-12-23 | 2016-01-20 | 柳州正菱集团有限公司 | A kind of hanger for engine |
| DE102014000403A1 (en) * | 2014-01-17 | 2015-07-23 | Elementar Analysensysteme Gmbh | Arrangement comprising a crucible and a feeder |
| US9724831B2 (en) * | 2015-08-28 | 2017-08-08 | Te Connectivity Corporation | Robotic gripper mechanism |
| DE102015223627A1 (en) * | 2015-11-30 | 2017-06-01 | Renz GmbH & Co. KG | Holding element and building material gripper arrangement with such |
| CN105480718B (en) * | 2016-01-16 | 2018-06-26 | 深圳市圣天达自动化科技有限公司 | A kind of full-color large screen inserting mechanisms of the automatic LED of high efficiency |
| ITUA20162979A1 (en) | 2016-04-28 | 2017-10-28 | Illinois Tool Works | HEADS FOR RIBBON PLATING WITH RIBBON PRESSURE LIMITS AND RIBBON BANDING SYSTEMS WITH HEADS FOR RIBBON BANDING WITH RIBBON PRESSURE LIMITS |
| ITUA20162975A1 (en) | 2016-04-28 | 2017-10-28 | Illinois Tool Works | TAPE FEEDERS FOR PLATING HAVING INDEPENDENT PRESSURE ROLLERS AND TAPE PLATING SYSTEMS WITH TAPE FEEDERS FOR PLATING HAVING INDEPENDENT PRESSURE ROLLERS |
| ITUA20162977A1 (en) * | 2016-04-28 | 2017-10-28 | Illinois Tool Works | TAPE FEEDERS FOR PLATING HAVING ADJUSTABLE RIBBON GUIDES AND RIBBON PLATING SYSTEMS WITH TAPE FEEDERS FOR PLATING HAVING ADJUSTABLE RIBBON GUIDES FOR THE RIBBON |
| DE102018127974A1 (en) * | 2018-11-08 | 2020-05-14 | Kromberg & Schubert Gmbh & Co. Kg | Gripping device for gripping two conductors independently of one another |
| CN109848709B (en) * | 2019-03-21 | 2023-09-26 | 深圳市联欣科技有限公司 | Butt-joint riveting equipment for data wire shielding shell |
| CN114873468B (en) * | 2022-05-17 | 2023-05-30 | 山东大学 | Crown block grab bucket anti-collision method and system oriented to brewing environment |
| US20240076858A1 (en) * | 2022-09-07 | 2024-03-07 | ESCO Group LLLC | Handling system for ground-engaging wear parts secured to earth working equipment |
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- 2010-06-01 CN CN201010191915.7A patent/CN101992946B/en not_active Expired - Fee Related
- 2010-06-15 US US12/815,806 patent/US8376433B2/en active Active
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| DE3024192A1 (en) * | 1979-09-07 | 1981-03-19 | Veb Kombinat Nagema, Ddr 8045 Dresden | Gripper for handling bottle cartons - has quick-release coupling between central drive and gripper elements |
| DE3032805C1 (en) * | 1980-08-30 | 1982-06-16 | C. Keller GmbH u. Co KG, 4530 Ibbenbüren | Gripping device for layer-by-layer removal of bricks fired in stacks |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP2284115A2 (en) | 2011-02-16 |
| EP2284115A3 (en) | 2011-10-12 |
| US20110037283A1 (en) | 2011-02-17 |
| CN101992946A (en) | 2011-03-30 |
| DE102009026361A1 (en) | 2011-02-17 |
| US8376433B2 (en) | 2013-02-19 |
| EP2284115B1 (en) | 2015-06-24 |
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